Update release suites.

[nuclearsandwich]

• Drop Ubuntu Xenial and surrounding non-LTS distributions.
• Drop Debian Jessie and Debian Stretch. (Official security support for Debian Stretch ended in July 2020 and Jessie even earlier.)
• Add Debian Bullseye for Python 3.
• Add Ubuntu Jammy for Python 3.

Although the non-LTS Ubuntu releases between Bionic and Focal are no longer supported I have not removed them as the pattern I've observed the most is not to remove these distributions until removing the surrounding LTS distribution. However, if pressed I would not fight to keep those suites in the release list.

[nuclearsandwich]

The CI error is macOS related and resolved by https://github.com/ros-infrastructure/catkin_pkg/pull/318